Trajectory planning and tracking control for perpendicular parking based on clothoid curve

Abstract

To improve the convenience and the safety of perpendicular parking in complex and narrow environment, a novel trajectory planning and tracking control method for perpendicular parking based on a clothoid curve was proposed. First, the trajectory planning problem was decoupled into the path planning problem and the velocity planning problem, and the parking path with continuous curvature was planned based on the clothoid curve and the parking velocity was planned based on the quintic polynomial curve. Then, the trajectory tracking control problem was decoupled into the parking path and the parking vehicle tracking control problems, and the non-time reference parking path tracking L2 gain control law was proposed based on L2 gain control theory and the prediction model, and the parking velocity tracking control law was designed based on PID(proportion integration differentiation) control. Finally, the feasibility and the validity of the method were verified on hardware-in-the-loop test platform. The simulation results show that the curvature of the parking path by the method for perpendicular parking is continuous, and the proposed trajectory tracking control method for perpendicular parking can accurately guide the vehicle to park in the parking space when the deviation between the width of the parking space and the width of the vehicle is larger than 0.655 m.